Reference : Rhythmic feedback control of a blind planar juggler
Scientific journals : Article
Engineering, computing & technology : Computer science
Rhythmic feedback control of a blind planar juggler
Ronsse, R. [> > > >]
Lefevre, Philippe [ > > ]
Sepulchre, Rodolphe mailto [Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
IEEE Transactions on Robotics
Ieee-Inst Electrical Electronics Engineers Inc
Yes (verified by ORBi)
[en] bouncing ball ; impact dynamics ; intermittent control ; juggling
[en] The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness analysis of the proposed control suggests that the arms acceleration at impact is a crucial design parameter even though it plays no role in the stability analysis. Analytical results and convergence proofs are provided for a simplified model of the juggler. The control law is then adapted to a more accurate model and validated in an experimental setup.
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